IPC

IPC: Integrated Planning and Control for Quadrotor Navigation in Presence of Sudden Crossing Objects and Disturbances
GitHub: github.com/hku...
Autonomous flight for quadrotors in environments with sudden crossing objects and disturbances still pose significant challenges. In this work, we propose an integrated planning and control framework called IPC. Specifically, we design a framework consisting of a lightweight frontend and a MPC backend. On the frontend, we employ the A* algorithm to generate the reference path on a local map. On the backend, we model the trajectory planning and control problem as a linear model predictive control (MPC) problem, which directly outputs the angular velocity reference, improving the response speed of the quadrotor to dynamic obstacles and its disturbance rejection capabilities. In simulation experiments involving avoiding sudden crossing object, our method outperforms state-of-the-art baselines in terms of success rate. Furthermore, we validate our method in real-world environments with dynamic objects and disturbances using a fully autonomous LiDAR-based quadrotor system, achieving autonomous navigation at velocities up to 5.86m/s in dense forests.